SubmapGeometry.cpp
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00001 /*
00002  * SubmapGeometry.cpp
00003  *
00004  *  Created on: Aug 18, 2015
00005  *      Author: Péter Fankhauser
00006  *   Institute: ETH Zurich, Autonomous Systems Lab
00007  */
00008 
00009 #include <grid_map_core/GridMapMath.hpp>
00010 #include <grid_map_core/SubmapGeometry.hpp>
00011 
00012 namespace grid_map {
00013 
00014 SubmapGeometry::SubmapGeometry(const GridMap& gridMap, const Position& position,
00015                                const Length& length, bool& isSuccess)
00016     : gridMap_(gridMap)
00017 {
00018   isSuccess = getSubmapInformation(startIndex_, size_, position_, length_,
00019                                    requestedIndexInSubmap_, position, length, gridMap_.getLength(),
00020                                    gridMap_.getPosition(), gridMap_.getResolution(),
00021                                    gridMap_.getSize(), gridMap_.getStartIndex());
00022 }
00023 
00024 SubmapGeometry::~SubmapGeometry()
00025 {
00026 }
00027 
00028 const GridMap& SubmapGeometry::getGridMap() const
00029 {
00030   return gridMap_;
00031 }
00032 
00033 const Length& SubmapGeometry::getLength() const
00034 {
00035   return length_;
00036 }
00037 
00038 const Position& SubmapGeometry::getPosition() const
00039 {
00040   return position_;
00041 }
00042 
00043 const Index& SubmapGeometry::getRequestedIndexInSubmap() const
00044 {
00045   return requestedIndexInSubmap_;
00046 }
00047 
00048 const Size& SubmapGeometry::getSize() const
00049 {
00050   return size_;
00051 }
00052 
00053 double SubmapGeometry::getResolution() const
00054 {
00055   return gridMap_.getResolution();
00056 }
00057 
00058 const Index& SubmapGeometry::getStartIndex() const
00059 {
00060   return startIndex_;
00061 }
00062 
00063 } /* namespace grid_map */


grid_map_core
Author(s): Péter Fankhauser
autogenerated on Mon Oct 9 2017 03:09:16